velodyne_height_map::HeightMap Class Reference

#include <heightmap.h>

Public Member Functions
	HeightMap (ros::NodeHandle node, ros::NodeHandle private_nh)
void	processData (const VPointCloud::ConstPtr &scan)
	~HeightMap ()
Private Member Functions
void	constructFullClouds (const VPointCloud::ConstPtr &scan, unsigned npoints, size_t &obs_count, size_t &empty_count)
void	constructGridClouds (const VPointCloud::ConstPtr &scan, unsigned npoints, size_t &obs_count, size_t &empty_count)
Private Attributes
VPointCloud	clear_cloud_
ros::Publisher	clear_publisher_
bool	full_clouds_
int	grid_dim_
double	height_diff_threshold_
double	m_per_cell_
VPointCloud	obstacle_cloud_
ros::Publisher	obstacle_publisher_
ros::Subscriber	velodyne_scan_

Detailed Description

Definition at line 22 of file heightmap.h.

velodyne_height_map::HeightMap::HeightMap	(	ros::NodeHandle	node,
		ros::NodeHandle	private_nh
	)

Constructor

Parameters:

	node	NodeHandle of this instance
	private_nh	private NodeHandle of this instance

Definition at line 40 of file heightmap.cpp.

velodyne_height_map::HeightMap::~HeightMap ( )

Definition at line 64 of file heightmap.cpp.

void velodyne_height_map::HeightMap::constructFullClouds	(	const VPointCloud::ConstPtr &	scan,
		unsigned	npoints,
		size_t &	obs_count,
		size_t &	empty_count
	)			`[private]`

Definition at line 66 of file heightmap.cpp.

void velodyne_height_map::HeightMap::constructGridClouds	(	const VPointCloud::ConstPtr &	scan,
		unsigned	npoints,
		size_t &	obs_count,
		size_t &	empty_count
	)			`[private]`